ARCGym: Benchmarking Deep Reinforcement Learning in Autonomous Robotic Colonoscopy

arXiv:2609.22803 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Code: https://github.com/bentferrari/IRE_ARCGym

Terminology

• Reinforcement Learning — 28× in this paper · explained in 4 episodes
• Alignment — 16× in this paper · explained in 1 episode
• Benchmark — 14× in this paper · explained in 2 episodes
• Benchmarking — 7× in this paper · explained in 4 episodes
• Deep Reinforcement Learning — 7× in this paper · explained in 2 episodes
• Actor — 6× in this paper · explained in 3 episodes
• Ablation — 5× in this paper · explained in 1 episode
• Generalization — 4× in this paper · explained in 13 episodes
• Ablation study — 2× in this paper · explained in 1 episode
• Action Space — 2× in this paper · explained in 1 episode
• Reward Function — 2× in this paper · explained in 2 episodes
• Robustness — 2× in this paper · explained in 5 episodes
• Steering — 2× in this paper · explained in 2 episodes
• Ablation Studies — 1× in this paper · explained in 1 episode
• Actor-Critic Learning — 1× in this paper · explained in 1 episode
• Adaptation — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Fidelity — 1× in this paper · explained in 2 episodes
• Formal Verification — 1× in this paper · explained in 2 episodes
• Multimodal Learning — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• Reinforcement Learning (RL) — 1× in this paper · explained in 25 episodes
• Sparsity — 1× in this paper · explained in 4 episodes
• Transferability — 1× in this paper · explained in 4 episodes
• Verification — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• BronchoCopilot: Towards Autonomous Robotic Bronchoscopy via Multimodal Reinforcement Learning
• Open-Sourced Reinforcement Learning Environments for Surgical Robotics
• ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity

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